To get the launch speed you can do the following. Be sure to set deceleration to 0.
Vector x = (x1-x0)/t
Vector y = (y1-y0)/t-0.5*gravity*t
X1,y1 is the destination
X0, y0 is the start
Gravity is whatever the behavior's Gravity is
T is how long you want the jump to take in seconds.
Overall the math should be the same as in that example you're referring to. The actual path will vary a bit due to the variable delta time but it should be pretty consistent.